Download JNTUA M.Tech 2nd Sem 2017 Feb 9D04202 Robotics Question Paper

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Code: 9D04202

M.Tech II Semester Supplementary Examinations January/February 2017
ROBOTICS
(Common to MD and CAD/CAM)

Time: 3 hours Max. Marks: 60
Answer any FIVE questions
All questions carry equal marks
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1 What are the five major components of a robot? Explain the purpose of each.

2 Explain the kinematic equations by using homogeneous transformations.

3 Explain the following:
(a) Forward and inverse kinematics of robots.
(b) Degeneracy and dexterity.

4 (a) Show the sketch of a spherical robot.
(b) A robot is having a rotation about the global coordinate frame Z by an angle of 300, then
rotation about the global coordinate frame Y by an angle of 500, then translation about the
global coordinate frame x by 10 units then give the final position of link with respect to the base
of the robot after taken up the above movements.

5 The links of an RP manipulator shown in figure below have inertia tensors:
and total mass m
1
and m
2
. The center of
mass of link 1 is located at a distance from the joint 1 axis, and the center of mass of link 2 is
at the variable distance d
2
from the joint 1 axis. Use Lagrangian dynamics to determine the
equation of motion for this manipulator.










6 (a) What are the basic actuator systems used in commercially available industrial robots?
(b) Explain the construction features of any one mechanical gripper.

7 The trajectory of a particular joint is specified as follows: Path points in degrees: 10, 35, 25, 10.
The duration of these three segments should be 2, 1, 3 seconds, respectively. The magnitude
of the default acceleration to use at all blend points is 50 degrees/s
2
. Calculate all segment
velocities, blend times and linear times.

8 Explain the following:
(a) Strain gauge.
(b) LVDT.
(c) Tachometer.

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